CN111433110B - 车辆的转向控制方法及车辆的转向控制装置 - Google Patents

车辆的转向控制方法及车辆的转向控制装置 Download PDF

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Publication number
CN111433110B
CN111433110B CN201780097444.3A CN201780097444A CN111433110B CN 111433110 B CN111433110 B CN 111433110B CN 201780097444 A CN201780097444 A CN 201780097444A CN 111433110 B CN111433110 B CN 111433110B
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China
Prior art keywords
steering
angle
command
target
region
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CN201780097444.3A
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English (en)
Chinese (zh)
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CN111433110A (zh
Inventor
谷口弘树
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/02—Steering controls, i.e. means for initiating a change of direction of the vehicle vehicle-mounted
    • B62D1/04—Hand wheels
    • B62D1/06—Rims, e.g. with heating means; Rim covers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Power Steering Mechanism (AREA)
CN201780097444.3A 2017-12-12 2017-12-12 车辆的转向控制方法及车辆的转向控制装置 Active CN111433110B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2017/044617 WO2019116453A1 (ja) 2017-12-12 2017-12-12 車両のステアリング制御方法および車両のステアリング制御装置

Publications (2)

Publication Number Publication Date
CN111433110A CN111433110A (zh) 2020-07-17
CN111433110B true CN111433110B (zh) 2021-06-11

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CN201780097444.3A Active CN111433110B (zh) 2017-12-12 2017-12-12 车辆的转向控制方法及车辆的转向控制装置

Country Status (5)

Country Link
US (1) US10829153B1 (de)
EP (1) EP3725644B1 (de)
JP (1) JP6690794B2 (de)
CN (1) CN111433110B (de)
WO (1) WO2019116453A1 (de)

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JP7445387B2 (ja) * 2019-02-27 2024-03-07 株式会社ジェイテクト 操舵制御装置
JP7196793B2 (ja) * 2019-07-15 2022-12-27 トヨタ自動車株式会社 車両用外乱対処システム
JP7283443B2 (ja) * 2019-11-01 2023-05-30 株式会社デンソー 回転機制御装置
JP7205519B2 (ja) * 2019-11-01 2023-01-17 株式会社デンソー 回転機制御装置
WO2021085178A1 (ja) * 2019-11-01 2021-05-06 株式会社デンソー 回転機制御装置
CN114630782B (zh) * 2019-11-01 2024-04-02 株式会社电装 旋转电机控制装置
US11498619B2 (en) * 2020-01-15 2022-11-15 GM Global Technology Operations LLC Steering wheel angle bias correction for autonomous vehicles using angle control
JP2022028472A (ja) * 2020-08-03 2022-02-16 株式会社デンソー 複数モータ駆動システム
CN112109679B (zh) * 2020-09-21 2022-08-16 重庆交通大学 防双手猛打方向盘的装置
CN112140868B (zh) * 2020-10-13 2024-07-05 武汉鲸鱼座机器人技术有限公司 一种满足自动驾驶冗余要求的底盘架构与控制方法
JP7347450B2 (ja) * 2021-01-05 2023-09-20 いすゞ自動車株式会社 操舵制御装置
CN113401217B (zh) * 2021-01-06 2022-09-13 丰疆智能(深圳)有限公司 自动驾驶的转向控制方法和方向盘转向单元
DE102021202285A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zur Beeinflussung eines Fahrzeugverhaltens
DE102021202278A1 (de) 2021-03-09 2022-09-15 Robert Bosch Gesellschaft mit beschränkter Haftung Vorrichtung und Verfahren zum Beeinflussen und/oder Betreiben eines Lenksystems und Lenksystem insbesondere für ein Fahrzeug
DE102021202482B4 (de) * 2021-03-15 2023-06-29 Continental Automotive Technologies GmbH Regelungseinrichtung und Verfahren zur Lenkwinkelregelung eines Fahrzeugs
JP2023005140A (ja) 2021-06-28 2023-01-18 トヨタ自動車株式会社 車両制御システム及び車両制御方法
IT202100021383A1 (it) * 2021-08-06 2023-02-06 Samantha Maria Calogera Alaimo Sistema di sterzatura di veicoli
CN113665664B (zh) * 2021-08-06 2022-08-19 上海汽车工业(集团)总公司 Sbw角度跟随前馈控制方法、存储介质和控制系统
DE102021209078A1 (de) * 2021-08-18 2023-02-23 Volkswagen Aktiengesellschaft Steer-by-Wire-Lenksystem und Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems
US11801866B2 (en) 2021-09-29 2023-10-31 Canoo Technologies Inc. Emergency motion control for vehicle using steering and torque vectoring
US11845422B2 (en) 2021-09-29 2023-12-19 Canoo Technologies Inc. Path tracking control for self-driving of vehicle with yaw moment distribution
US11845465B2 (en) * 2021-09-29 2023-12-19 Canoo Technologies Inc. Autonomous lateral control of vehicle using direct yaw moment control
DE102022200403A1 (de) * 2022-01-14 2023-07-20 Volkswagen Aktiengesellschaft Steer-by-Wire-Lenksystem und Verfahren zum Betreiben eines Steer-by-Wire-Lenksystems
CN115214774B (zh) * 2022-04-01 2023-09-22 广州汽车集团股份有限公司 后轮控制方法、装置、计算机设备及汽车

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JP6374773B2 (ja) 2014-11-21 2018-08-15 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
JP6583403B2 (ja) * 2015-04-09 2019-10-02 日産自動車株式会社 車線維持支援装置

Also Published As

Publication number Publication date
EP3725644B1 (de) 2022-02-09
WO2019116453A1 (ja) 2019-06-20
JPWO2019116453A1 (ja) 2020-04-16
CN111433110A (zh) 2020-07-17
US20200377152A1 (en) 2020-12-03
JP6690794B2 (ja) 2020-04-28
US10829153B1 (en) 2020-11-10
EP3725644A1 (de) 2020-10-21
EP3725644A4 (de) 2020-12-16

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